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CJ2M-MD211/MD212 Function Block For Move Time Relative(REAL)

Move Time Relative (REAL)
Name Time-specified Move Relative(REAL): MD_CPU140_MoveTimeRelative_REAL
Basic Function Positioning is performed with relative movement in a specified time period.
Originates from Tsunagi Lab Europe
Created by OEE-HQ HvB (creation and testing)
File Name MD_CPU140_MoveTimeRelative_REAL.cxf
Applicable models CPU Unit CJ2M-CPU Unit version 2.0 or higher with max. two
CJ2M-MD211 (NPN) or
CJ2M-MD212 (PNP)
CX-Programmer Version 9.1.2 or higher
Conditions for usage None.
Function Description Executes positioning on the axis of the specified Axis No. (Axis) with the specified Position command (Distance), Total positioning time (PositioningTime), Acceleration time (Acceleration), and Deceleration time (Deceleration) when Start (Execute) is turned ON (using the selected Pulse output method).
Speed command values are automatically determined based on Position command (Distance), Total positioning time (PositioningTime), Acceleration time (Acceleration), and Deceleration time (Deceleration).
The Positioning completed (Done) is turned ON when positioning by this FB is completed (i.e., target position reached).
The Error flag (Error) will be turned ON and Error code (ErrorID) will be output when an error related to this FB occurs.
These statuses, Positioning completed (Done)/ Error flag (Error)/ Error code (ErrorID), will be reset when Start (Execute) is turned OFF. If Start (Execute) was turned OFF before positioning is completed, the status will be set for at least one cycle when a corresponding condition occurs.

Kind of FB definition Connect Always ON type
  Connect the EN input to the Always ON Flag (P_ON).
  The same instance cannot be used in two or more places.
FB Precautions • CW output is taken as + direction and CCW output is taken as – direction.
• When using the Pulse ouput 0&1 or 2&3 simultaneously, use the same Pulse output method for them.
• Set the Total positioning time (PositioningTime) for Acceleration time (Acceleration) and Deceleration time (Deceleration), so that the sum of the Acceleration time (Acceleration) and Deceleration time (Deceleration) would not exceed the Total positioning time (PositioningTime).
• If Start (Execute) is turned ON with no origin defined, the present value of output pulse counts will be cleared to 0 and the next positioning operation is started with the present value of 0. (See the diagram below.)

The MD_CPU* function blocks are offered 'as is' and may serve as a basis for development. Users should previously test its adequacy to the final application.

Omron can not be held responsible in case of malfunction.

EN input condition  • Connect the EN input to the Always ON Flag (P_ON).
 • If a different type of bit is connected to EN, the FB outputs will be maintained when the connected bit is turned OFF.
Restrictions other • On CPU Unit, Acceleration and Deceleration rates are refreshed every 4ms. For this reason, there may be some variations in the actual Acceleration and Deceleration times depending on the settings of the input variables for this FB.
• In low-speed operations (such as when a long Total positioning time (PositioningTime) is set for a small Position command (Position)), setting a long Acceleration time (Acceleration) and Deceleration time (Deceleration) may cause some variations in the actual Total positioning time.
• An execution of this FB during an axis operation (i.e., the Multiple start function using this FB) will cause some variations in the actual Total positioning time.
• Executions of another FB or instance during an execution of this FB (i.e., the Multiple start function using another FB or instance) will cause some variations in the actual Total positioning time (that is, positioning operation will not be performed in the specified time period). However, the Positioning completed (Done) will be output at completion of a positioning operation.
Application example When the Start trigger turns from OFF to ON, a positioning operation will be performed using the Servomotor connected to the Pulse output 0 on the CJ2M-MD21* Unit with relative movement in a specified time period.

Related manuals CJ2M Pulse I/O User Manual (W486)
CJ2 Hardware User Manual (W472)

Input Variables

Name Variable name Data type Default Range Description
EN EN BOOL     1 (ON): Starts FB
0 (OFF): Does not start FB
Axis No. Axis INT &0 &0 to &3 &0: Pulse output 0, &1: Pulse output 1
&2: Pulse output 2, &3: Pulse output 3
Start Execute BOOL 0 (OFF)   OFF -> ON (rising edge) starts positioning with relative movement
Position command Distance REAL   +0.0 -2.147483e+009 to +2.147483e+009 Specify a distance for relative movement.
Unit: pulse
Total positioning time PositioningTime REAL +1.0 +1.0 to +65535.0 Specify a positioning time.
Unit: ms
Acceleration time Acceleration REAL +1.0 +1.0 to +65535.0 Specify an acceleration time.
Unit: ms
Deceleration time Deceleration REAL +1.0 +1.0 to +65535.0 Specify a deceleration time.
Unit: ms
Pulse output method OutPulseSelect INT &0 &0 to &1 &0: CW/CCW output
&1: Pulse + direction output

Output Variables

Name Variable name Data type Range Description
ENO ENO BOOL   1 (ON): FB operating normally
0 (OFF): FB not operating normally
Positioning completed Done BOOL   1 (ON) indicates that positioning is completed.
Error flag Error BOOL   1 (ON) indicates that an error has occurred in the FB.
Error code (May be omitted) ErrorID WORD   The error code of the error occurred in the FB will be output. For details of the errors , refer to the sections of the manual listed in the Related manuals above. When the specified Axis No. is out of the range, #0 000 will be output.

Revision History

Version Date Contents
1.00 17-Feb-2012 Based on Function Block: _NCCPU140_MoveTimeRelative_REAL


This manual is a reference that explains the function block functions. It does not explain the operational limitations of Units, components, or combinations of Units and components. Always read and understand the Operation Manuals for the system’s Units and other components before using them.



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Created 2012-02-17
Modified 2012-02-28
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